version: 66.06
glider: 143
mission: 10
dive: 319
start: 12 16 109 5 13 50
data:
$ID,143
$MISSION,10
$DIVE,319
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,50
$D_BOOST,0
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,360
$T_MISSION,420
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-3
$USE_ICE,2
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51204
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$ESCAPE_HEADING,100
$ESCAPE_HEADING_DELTA,5
$FIX_MISSING_TIMEOUT,5
$TGT_DEFAULT_LAT,-2030
$TGT_DEFAULT_LON,5900
$TGT_AUTO_DEFAULT,0
$SM_CC,425
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-42000.188
$T_RSLEEP,60
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,127
$PITCH_MAX,4070
$C_PITCH,2690
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,31
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,290
$ROLL_MAX,3915
$ROLL_DEG,45
$C_ROLL_DIVE,2460
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.025
$VBD_MIN,442
$VBD_MAX,3793
$C_VBD,2800
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-24.446302
$PRESSURE_SLOPE,0.0001163694
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,1
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,1.8
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,16
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043131942
$SEABIRD_T_H,0.00062854384
$SEABIRD_T_I,2.3348166e-05
$SEABIRD_T_J,2.4454023e-06
$SEABIRD_C_G,-10.029707
$SEABIRD_C_H,1.1484355
$SEABIRD_C_I,-0.0010294267
$SEABIRD_C_J,0.00016845814
$GPS1,050707,6709.372,-5708.890,58,1.2,58,-37.8
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-59.5
$GPS2,051331,6709.435,-5708.850,8,1.8,13,-37.8
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,166.2,19202,-16.9,-9.167
$D_GRID,539
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.73,-146.0,0.0,0.0,0,138,0.00,0.00,-120.35,0.000,2,0.000,0.000,123,2459,3194,0,0,0,0,0,0
$GC,142,-0.73,-146.0,3.7,-7.6,24,164,11.27,2.30,-5.15,0.000,4,0.294,0.098,2445,856,3397,0,0,0,0,0,0
$GC,170,0.86,-146.0,11.7,-25.3,29,177,1.85,2.15,0.00,0.000,6,0.176,0.066,2961,2452,3399,0,0,0,0,0,0
$GC,515,-0.62,-146.0,34.6,-7.1,90,521,1.62,2.30,0.00,0.000,4,0.173,0.085,2503,849,3401,0,0,0,0,0,0
$GC,641,-0.77,-146.0,43.6,-7.0,112,648,0.20,2.20,0.00,0.000,6,0.100,0.068,2434,2475,3401,0,0,0,0,0,0
$GC,988,-0.77,-146.0,78.9,-11.6,173,994,0.00,3.25,0.00,0.000,4,0.000,0.087,2434,3927,3400,0,0,3,0,0,0
$GC,1005,-0.77,-146.0,80.9,-10.6,176,1010,0.00,3.05,0.00,0.000,6,0.000,0.064,2434,2512,3399,0,0,3,0,0,0
$GC,1340,-0.77,-146.0,112.5,-8.8,224,1344,0.00,2.30,0.00,0.000,4,0.000,0.087,2434,866,3399,0,0,0,0,0,0
$GC,1585,-0.77,-146.0,140.0,-10.6,245,1592,0.00,2.33,0.00,0.000,6,0.000,0.071,2434,2531,3397,0,0,0,0,0,0
$GC,1911,-0.77,-146.0,168.7,-8.2,276,1916,0.00,3.10,0.00,0.000,4,0.000,0.087,2434,3915,3397,0,0,4,0,0,0
$GC,2085,-0.82,-146.0,182.9,-7.7,291,2090,0.00,2.95,0.00,0.000,6,0.000,0.064,2434,2563,3396,0,0,2,0,0,0
$GC,2410,-0.88,-146.0,204.5,-6.4,321,2415,0.00,3.10,0.00,0.000,4,0.000,0.086,2434,3916,3396,0,0,2,0,0,0
$GC,2596,-0.94,-146.0,218.2,-7.7,337,2601,0.15,2.90,0.00,0.000,6,0.117,0.062,2381,2593,3396,0,0,1,0,0,0
$GC,2920,-0.84,-146.0,251.5,-10.8,367,2926,0.15,3.05,0.00,0.000,4,0.203,0.084,2413,3924,3396,0,0,2,0,0,0
$GC,3178,-0.84,-146.0,276.0,-9.6,389,3184,0.00,2.75,0.00,0.000,6,0.000,0.059,2413,2622,3397,0,0,2,0,0,0
$GC,3503,-0.84,-146.0,301.0,-6.9,420,3508,0.00,2.92,0.00,0.000,4,0.000,0.082,2413,3928,3398,0,0,4,0,0,0
$GC,3710,-0.84,-146.0,316.7,-8.2,438,3715,0.00,2.78,0.00,0.000,6,0.000,0.058,2413,2650,3398,0,0,2,0,0,0
$GC,4036,-0.84,-146.0,342.4,-8.0,468,4041,0.00,2.90,0.00,0.000,4,0.000,0.081,2413,3927,3398,0,0,2,0,0,0
$GC,4166,-0.84,-146.0,353.3,-8.2,479,4171,0.00,2.72,0.00,0.000,6,0.000,0.058,2413,2665,3399,0,0,3,0,0,0
$GC,4491,-0.84,-146.0,379.7,-8.1,509,4495,0.00,2.88,0.00,0.000,4,0.000,0.081,2413,3925,3400,0,0,2,0,0,0
$GC,4643,-0.84,-146.0,392.4,-8.5,522,4648,0.00,2.72,0.00,0.000,6,0.000,0.058,2413,2675,3401,0,0,2,0,0,0
$GC,4967,-0.84,-146.0,420.2,-8.2,552,4972,0.00,2.88,0.00,0.000,4,0.000,0.081,2413,3930,3400,0,0,2,0,0,0
$GC,5085,-0.84,-146.0,430.1,-8.8,562,5090,0.00,2.70,0.00,0.000,6,0.000,0.058,2413,2685,3401,0,0,3,0,0,0
$GC,5409,-0.84,-146.0,456.3,-8.3,592,5414,0.00,2.85,0.00,0.000,4,0.000,0.081,2413,3920,3402,0,0,2,0,0,0
$GC,5562,-0.84,-146.0,468.5,-7.9,605,5567,0.00,2.67,0.00,0.000,6,0.000,0.058,2413,2708,3402,0,0,2,0,0,0
$GC,5887,-0.84,-146.0,494.5,-8.4,635,5891,0.00,2.80,0.00,0.000,4,0.000,0.081,2413,3923,3401,0,0,3,0,0,0
$GC,6049,-0.84,-146.0,509.0,-9.3,649,6053,0.00,2.65,0.00,0.000,6,0.000,0.057,2413,2728,3401,0,0,2,0,0,0
$GC,6373,-0.84,-146.0,536.7,-8.0,679,6378,0.00,2.80,0.00,0.000,4,0.000,0.082,2413,3927,3402,0,0,2,0,0,0
$STATE,6398,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6399,begin apogee
$GC,6408,-0.16,0.0,539.1,9.1,681,6534,0.77,0.00,121.05,1.072,6,0.179,0.000,2627,1935,2799,0,0,0,0,0,0
$STATE,6535,end apogee,CONTROL_FINISHED_OK
$STATE,6535,begin climb
$GC,6537,0.73,146.0,541.9,0.0,694,6671,0.95,2.10,124.22,1.025,4,0.128,0.084,2922,366,2201,0,0,0,0,0,0
$GC,6733,0.65,146.0,525.5,11.6,712,6739,0.00,2.05,0.00,0.000,6,0.000,0.057,2922,1975,2198,0,0,0,0,0,0
$GC,7058,0.58,146.0,488.2,11.5,743,7064,0.17,3.40,0.00,0.000,4,0.199,0.074,2877,3524,2194,0,0,3,0,0,0
$GC,7169,0.58,146.0,476.5,9.8,752,7176,0.00,3.40,0.00,0.000,6,0.000,0.067,2891,1955,2193,0,0,3,0,0,0
$GC,7494,0.58,146.0,442.8,10.6,783,7500,0.00,3.45,0.00,0.000,4,0.000,0.076,2891,3530,2193,0,0,2,0,0,0
$GC,7641,0.58,146.0,425.7,11.5,795,7647,0.00,3.35,0.00,0.000,6,0.000,0.069,2906,1985,2193,0,0,3,0,0,0
$GC,7965,0.58,146.0,388.9,10.9,826,7970,0.00,3.38,0.00,0.000,4,0.000,0.076,2906,3529,2193,0,0,3,0,0,0
$GC,8066,0.51,146.0,377.0,11.7,834,8072,0.28,3.33,0.00,0.000,6,0.194,0.068,2853,1994,2192,0,0,3,0,0,0
$GC,8390,0.71,178.5,351.1,7.8,865,8425,0.20,3.38,26.05,0.934,4,0.100,0.074,2923,3526,2070,0,0,3,0,0,0
$GC,8566,0.63,178.5,329.7,12.4,881,8572,0.17,3.33,0.00,0.000,6,0.199,0.069,2898,2013,2067,0,0,3,0,0,0
$GC,8890,0.63,178.5,296.2,10.5,911,8895,0.00,3.35,0.00,0.000,4,0.000,0.075,2898,3524,2066,0,0,2,0,0,0
$GC,8967,0.63,178.5,287.3,11.9,917,8973,0.00,3.28,0.00,0.000,6,0.000,0.068,2910,2026,2065,0,0,3,0,0,0
$GC,9293,0.63,178.5,252.2,10.5,948,9298,0.00,3.33,0.00,0.000,4,0.000,0.076,2910,3524,2065,0,0,2,0,0,0
$GC,9411,0.63,178.5,238.6,11.1,958,9417,0.12,3.25,0.00,0.000,6,0.202,0.068,2898,2045,2065,0,0,3,0,0,0
$GC,9735,0.69,178.5,208.5,9.3,988,9740,0.00,3.30,0.00,0.000,4,0.000,0.075,2898,3525,2065,0,0,2,0,0,0
$GC,9853,0.69,178.5,196.9,9.6,998,9858,0.00,3.28,0.00,0.000,6,0.000,0.067,2910,2060,2064,0,0,1,0,0,0
$GC,10177,0.69,178.5,162.8,11.6,1028,10182,0.00,3.30,0.00,0.000,4,0.000,0.074,2910,3526,2064,0,0,1,0,0,0
$GC,10283,0.69,178.5,149.2,12.9,1037,10288,0.00,3.20,0.00,0.000,6,0.000,0.067,2924,2076,2064,0,0,3,0,0,0
$GC,10607,0.69,178.5,111.2,11.4,1067,10612,0.00,3.25,0.00,0.000,4,0.000,0.075,2924,3529,2064,0,0,3,0,0,0
$GC,10684,0.69,178.5,103.2,9.8,1073,10691,0.00,3.20,0.00,0.000,6,0.000,0.066,2938,2081,2064,0,0,3,0,0,0
$GC,11025,0.69,178.5,71.5,10.3,1130,11030,0.00,3.25,0.00,0.000,4,0.000,0.075,2939,3530,2065,0,0,3,0,0,0
$GC,11161,0.69,178.5,58.6,10.2,1154,11168,0.15,3.20,0.00,0.000,6,0.205,0.067,2920,2087,2065,0,0,3,0,0,0
$GC,11505,0.85,238.2,32.3,6.7,1215,11562,0.12,3.33,48.38,0.754,4,0.122,0.077,2962,3529,1827,0,0,2,0,0,0
$GC,11596,0.80,238.2,21.8,17.1,1232,11601,0.00,3.22,0.00,0.000,6,0.000,0.068,2977,2107,1825,0,0,3,0,0,0
$FREEZE,8.40,-0.180,-1.831,0,1,0
$FREEZE,7.76,-0.181,-1.830,0,1,0
$FREEZE,7.15,-0.182,-1.830,0,1,0
$FREEZE,6.52,-0.184,-1.830,0,1,0
$FREEZE,6.02,-0.186,-1.829,0,1,0
$FREEZE,5.44,-0.193,-1.829,0,1,0
$FREEZE,4.68,-0.185,-1.828,0,1,0
$FREEZE,4.02,-0.188,-1.828,0,1,0
$FREEZE,3.38,-0.191,-1.827,0,1,0
$FREEZE,2.79,-0.197,-1.827,0,1,0
$FREEZE,2.05,-0.198,-1.826,0,1,0
$FREEZE,1.46,-0.201,-1.826,0,1,0
$STATE,11753,end climb,SURFACE_DEPTH_REACHED
$STATE,11753,begin surface coast
$FREEZE,0.60,-0.202,-1.825,0,1,0
$FREEZE,0.71,-0.201,-1.825,0,1,0
$FREEZE,0.53,-0.206,-1.825,0,1,0
$FINISH,0.5,1.026739
$STATE,11770,end surface coast,CONTROL_FINISHED_OK
$STATE,11770,begin surface
$SM_CCo,11788,112.20,0.716,0,0,1066,425.10
$SM_GC,1.05,0.00,0.00,112.20,0.000,0.000,0.716,127,2455,1066,-8.01,-0.14,425.10
$RAFOS_CLK,736
$RAFOS,2,1260951425,8.300000,8.284722,63,54,53,0,0,0,217,144,198,0,0,0
$RAFOS,1,1260950950,8.166667,8.152778,60,54,53,0,0,0,180,212,162,0,0,0
$RAFOS,0,1260950467,8.033334,8.018611,66,61,59,0,0,0,219,191,201,0,0,0
$RAFOS_FIX,6708.132324,-5713.788574,151209,202012,3,79,0.64
$IRIDIUM_FIX,6636.54,-5709.24,120399,020216
$TT8_MAMPS,0.029146
$HUMID,46.73
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,19.9
$ALTIM_BOTTOM_PING,350.1,217.9
$24V_AH,22.6,61.017
$10V_AH,10.1,32.224
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,26.725,155.500,319.700,112.200,0.000,29.322,34.234,202.052,1.250,0.000,14.663,2142.004,6811.571,597.400,2252.775,472.954,0.000,1750.736,0.000,2212.344,1440.000,9.407,0.000
$DEVICE_MAMPS,293.761,98.176,1072.266,716.378,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,923.047,861.619,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152504
$DATA_FILE_SIZE,50520,1263
$CAP_FILE_SIZE,145950,0
$CFSIZE,260165632,225214464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,110,0,0
$SOUNDSPEED,1465.8
$GPS,161209,083331,6708.574,-5708.428,35,1.6,35,-37.7